Heat a gas grill or prepare a fire in a charcoal grill.
In a small bowl, whisk together the vinegar, garlic, oregano, cumin,
mustard, red pepper flakes, olive oil, and orange juice (reserve the
zest for garnish). Set aside.

Cut the eggplant into 1/2-inch-thick slices. Cut the peppers into quarters and remove the cores and seeds. If using baby zucchini, cut them lengthwise in half. If using small zucchini, cut lengthwise into 1/4-
inch-thick slices (discard the first and last slice from each). Cut the
onions into 6 or 8 wedges each. Trim the scallions. Snap off the tough
bottom parts of the asparagus stalks.

Place the vegetables on two large baking sheets. Brush lightly with
some of the red wine vinegar marinade and season lightly with salt.
Place on the grill over medium-high to high heat (you will probably
have to cook the vegetables in batches) and cook, turning once or
twice, until tender and slightly charred on both sides: The eggplant
will take about 8 to 10 minutes, the peppers 10 to 12 minutes, the
zucchini 6 to 8 minutes, the onions and scallions 4 to 6 minutes, and
the asparagus 5 to 7 minutes. Remove each vegetable from the grill
as it is done and return to the baking sheets.

Cut the pepper pieces crosswise in half. Arrange the vegetables decoratively on a large serving platter and drizzle with the remaining marinade.
Sprinkle with the orange zest and basil. Serve warm or at
room temperature.